JP2019132673A - Terminal device and position detection system - Google Patents

Abstract

To provide a terminal device and a position detection system with which, while having satisfactory position detection accuracy, it is possible to detect a position by a few lighting apparatuses in a short processing time.SOLUTION: Provided is a terminal device capable of imaging a lighting apparatus, comprising: an imaging unit for capturing a moving-image of the lighting apparatus; an acquisition unit for acquiring, from the moving-image, identification information for specifying the lighting apparatus, shape information of the lighting apparatus, and position information about at least six points on the lighting apparatus; and a position detection unit for calculating, using a linear equation, the position of the terminal device on the basis of the identification information, the shaped information and the position information.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a terminal device and a position detection system.

  In recent years, as a technique for detecting an outdoor position, a global positioning system (GPS) that estimates a position by receiving radio waves from an artificial satellite is widely used. However, since it is difficult to detect the position indoors where GPS radio waves do not reach, an example of a method for detecting the indoor position is a method using visible light communication.

  Visible light communication is a wireless communication technique using visible light, and is a communication technique that can transmit information by variously modulating the blinking pattern of a lighting fixture. As an example of such a position detection method using visible light communication, the techniques disclosed in the following Patent Document 1, Patent Document 2, Patent Document 3, and Non-Patent Document 1 can be cited.

Special table 2014-506328 gazette JP 2011-128948 A JP 2008-224536 A

Yohei Nakazawa, Research on indoor pedestrian location measurement method using visible light communication, Niigata University, March 23, 2016 Koichiro Deguchi, Recent Trends in Camera Calibration Methods, Report of Information Processing Society of Japan, CV-82-1, pp. 1-8, 1993

  However, in the position detection using visible light communication as described above, the position detection accuracy is low, or it takes a lot of time to calculate the position detection, or six or more lighting fixtures are required. I was doing. That is, in the position detection method using the conventional visible light communication, it is difficult to detect the position with a small amount of lighting equipment and a short processing time while having a good position detection accuracy.

  Therefore, the present invention has been made in view of the above problems, and an object of the present invention is to detect a position with a small amount of lighting equipment and a short processing time while having good position detection accuracy. It is an object of the present invention to provide a new and improved terminal device and position detection system capable of being used.

  In order to solve the above-described problem, according to an aspect of the present invention, there is provided a terminal device capable of capturing an image of a lighting fixture, the imaging unit capturing a moving image of the lighting fixture, and the moving image, Identification information for identifying a lighting fixture, shape information of the lighting fixture, position information of at least six sets of points in the lighting fixture, the identification information, the shape information, and the position information And a position detection unit that calculates the position of the terminal device using a linear equation.

  The shape information may include information on the shape of the light emitting area of the lighting fixture and the position of the vertex of the light emitting area on the real space and the moving image.

  The position information may include information related to the position of the center of gravity of the lighting fixture in the real space and the moving image.

  The acquisition unit may acquire a part of the identification information, the shape information, and the position information based on a light reception pattern of light from the lighting fixture.

  The position detection unit may specify a correspondence relationship between at least six points in the lighting fixture in real space and at least six points in the lighting fixture on the moving image.

  The terminal device may image at least three or more of the lighting fixtures provided on the same plane.

  The position detecting unit may calculate the distance between predetermined points in the real space and the moving image, and may identify the correspondence relationship by comparing the calculated distances. .

  The at least three or more lighting fixtures include first, second, and third lighting fixtures, and the position detection unit acquires the position of the center of gravity of each lighting fixture in the real space. When the acquired centroids are not aligned on a straight line, a straight line connecting two ends of the first luminaire in the real space and the centroid of the second luminaire. And a method of specifying the correspondence relationship using an angle formed by a straight line connecting the center of gravity of the third lighting fixture.

  If the angle is within a predetermined angle, the position detection unit may perform the second and third illumination from one end of the first lighting fixture on the real space and the moving image. The distance to the center of gravity of the fixture is calculated, the distance from the other end of the first lighting fixture to the center of gravity of the second and third lighting fixtures is calculated, and the angle is predetermined. If the angle is not within the angle, the total value of the distance from the two ends of the first lighting fixture to the center of gravity of the second and third lighting fixtures in the real space and the moving image May be calculated.

  The at least three or more lighting fixtures include first, second, and third lighting fixtures, and the position detection unit is configured to perform the first lighting on the real space and the moving image. A perpendicular to the straight line extending from the center of gravity of the fixture and connecting the center of gravity of the second lighting fixture and the center of gravity of the third lighting fixture is calculated, and one point of the first lighting fixture and the first illumination are calculated. A first angle formed by a line segment connecting the center of gravity of the fixture and the perpendicular is calculated, and a line connecting the other point of the first lighting fixture and the center of gravity of the first lighting fixture. A second angle constituted by a minute and the perpendicular may be calculated, and the correspondence relationship may be specified based on the calculated first and second angles.

  In order to solve the above-described problem, according to another aspect of the present invention, a position detection system including a lighting fixture and a terminal device, wherein the terminal device is an imaging unit that captures a moving image of the lighting fixture; , From the moving image, the identification information for identifying the lighting fixture, the shape information of the lighting fixture, and the acquisition unit for acquiring the position information of at least six sets of points in the lighting fixture, the identification information, There is provided a position detection system including a position detection unit that calculates the position of the terminal device using a linear equation based on shape information and the position information.

  The luminaire may transmit the identification information, the shape information, and a part of the position information to the terminal device by emitting light.

  As described above, according to the present invention, it is possible to provide a terminal device and a position detection system capable of detecting a position with a small amount of lighting equipment and a short processing time while having a good position detection accuracy. it can.

It is explanatory drawing for demonstrating the position detection system 1 which concerns on the 1st Embodiment of this invention. It is explanatory drawing (the 1) for demonstrating an example of the installation position of the lighting fixture 100 which concerns on the 1st Embodiment of this invention. It is explanatory drawing (the 2) for demonstrating an example of the installation position of the lighting fixture 100 which concerns on the 1st Embodiment of this invention. It is a functional block diagram of the lighting fixture 100 which concerns on the 1st Embodiment of this invention. It is explanatory drawing for demonstrating an example of the information table 500 stored in the lighting fixture memory | storage part 104 which concerns on the 1st Embodiment of this invention. It is a functional block diagram of the terminal device 200 which concerns on the 1st Embodiment of this invention. It is explanatory drawing for demonstrating an example of the information table 502 stored in the terminal memory | storage part 204 which concerns on the 1st Embodiment of this invention. It is explanatory drawing for demonstrating the calculation method of the position calculation part 210 which concerns on the 1st Embodiment of this invention. It is a flowchart of the position detection method which concerns on the 1st Embodiment of this invention. It is a subflowchart of the correspondence specific process (pre-processing) which concerns on the 1st Embodiment of this invention. 11 is a sub-flowchart of step S213 in FIG. It is explanatory drawing (the 1) for demonstrating the correspondence specific process (pre-processing) which concerns on the 1st Embodiment of this invention. It is explanatory drawing (the 2) for demonstrating the correspondence specific process (pre-processing) which concerns on the 1st Embodiment of this invention. It is a flowchart of the position detection method which concerns on the 2nd Embodiment of this invention. It is explanatory drawing for demonstrating the position detection method which concerns on the 2nd Embodiment of this invention. It is the block diagram which showed the hardware structural example of the radio | wireless communication apparatus 900 which is the terminal device 200 which concerns on embodiment of this invention.

  Exemplary embodiments of the present invention will be described below in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol.

  In the present specification and drawings, a plurality of constituent elements having substantially the same or similar functional configuration may be distinguished by adding different numerals after the same reference numerals. However, when it is not necessary to particularly distinguish each of a plurality of constituent elements having substantially the same or similar functional configuration, only the same reference numerals are given. In addition, similar components in different embodiments may be distinguished by attaching different alphabets after the same reference numerals. However, if it is not necessary to distinguish each similar component, only the same reference numerals are given.

  In the embodiment of the present invention described below, position detection for detecting the position of the terminal device 200 (see FIG. 1) using at least three or more lighting fixtures 100 (see FIG. 1) provided on the same plane. This will be described as a method. However, the embodiment of the present invention is not limited to detecting the position using three or more lighting fixtures 100 as described above, and detects the position of the terminal device 200 using one lighting fixture 100. May be.

<< Background to the Embodiment of the Present Invention >>
Next, prior to specific description of the embodiment of the present invention, the background of how the inventors have made the embodiment of the present invention will be described.

  As described above, a global positioning system that estimates a position by receiving a radio wave (GPS radio wave) from an artificial satellite is widely used as a technique for detecting an outdoor position. However, in the above method, since it is difficult to detect the position indoors where GPS radio waves do not reach, a method using visible light communication can be cited as a method for detecting the position indoors. The visible light communication is a wireless communication technology using electromagnetic waves having a wavelength (about 360 nm to about 830 nm) visible to the human eye, that is, visible light, and a blinking pattern of a luminaire that can irradiate visible light. Is a communication technique capable of transmitting information by modulating the signal. As another method for detecting the position, a method for detecting the position using sound waves, which are elastic waves propagating in space, can be used. However, since it is difficult to be influenced by the surrounding environment, it is visible. It can be said that the position detection method using optical communication has higher accuracy than the position detection method using sound waves.

  For example, as a position detection method using visible light communication, the technique disclosed in Patent Document 1 can be cited. In the said patent document 1, a some lighting fixture transmits each intrinsic | native identification information to the object apparatus used as a position detection object using visible light communication. Furthermore, the target device determines the position of the target device itself by obtaining the distance from the lighting device to itself based on the position information of each lighting device stored in advance and the received intensity of visible light from each lighting device. Can be detected.

  Further, for example, in Patent Document 2, a plurality of lighting fixtures transmits their unique identification information and the position of the lighting fixture to a target device that is a position detection target using visible light communication. Further, the target device estimates the approximate position of the target device itself based on the position information received using visible light communication.

  Further, for example, in Non-Patent Document 1, the three luminaires transmit their unique identification information and the position of the luminaire to a target device that is a position detection target using visible light communication. And the said target apparatus image | photographs each lighting fixture using a fisheye lens, acquires the position of each lighting fixture on an imaging screen, and acquires the identification information and position information of each lighting fixture using visible light communication . Furthermore, the target device can detect the position of the target device itself using a nonlinear least square method based on the acquired information.

  However, the present inventor has intensively studied the techniques disclosed in the above-mentioned documents, and has found that there are problems with the techniques disclosed in these documents. Specifically, according to the present inventor, in the above-mentioned Patent Document 1, since the distance is obtained by the received intensity of visible light, it is easily affected by the surrounding environment, and between the lighting device and the target device. The problem is that the distance estimation accuracy is low. Moreover, since the above-mentioned Patent Document 2 is a technique based on the premise that the approximate position of the target device is estimated, the accuracy of detection of the position of the target device is low.

  Further, in Non-Patent Document 1, since the position is detected by using the nonlinear least square method, there is a problem that the calculation process takes time. In addition, the present inventor examined using a linear equation that uses a technique disclosed in Non-Patent Document 1 and has a smaller processing burden than the nonlinear least square method. In such a case, Six or more lighting fixtures are required, which increases the cost for constructing a system for position detection.

  Therefore, in view of such a situation, the present inventor has created an embodiment of the present invention described below. That is, according to the embodiment of the present invention created by the present inventor, the position can be detected with a small amount of lighting equipment and with a small processing time while having a good position detection accuracy. Below, the detail of embodiment of this invention which this inventor created is demonstrated one by one.

<< First Embodiment >>
<Outline configuration of the position detection system 1>
First, the outline of the position detection system 1 according to the first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is an explanatory diagram for explaining a position detection system 1 according to the present embodiment. 2 and 3 are explanatory diagrams for explaining an example of the installation position of the lighting fixture 100 according to the present embodiment. Specifically, FIG. 2 is an example of a plan view of the ceiling of the room 300, FIG. 3 is an example of a side view of the room 300.

  The position detection system 1 according to the present embodiment includes a lighting fixture 100 and a terminal device 200 as shown in FIG. The position detection system 1 transmits the shape, position information, and the like of the light emitting region (light emitting unit 110) of the lighting fixture 100 to the terminal device 200 from the lighting fixture 100 using visible light communication. Further, the terminal device 200 images the lighting fixture 100, acquires the lighting fixture identification information, the shape of the light emitting area, and the position information of the lighting fixture 100 from the moving image of the lighting fixture 100, and based on the acquired information. The position of itself can be detected using a linear equation. The position detection system 1 can detect the position of the terminal device 200 using a small number of lighting fixtures 100.

  The position detection system 1 can be used, for example, when detecting the position of the person 400 in a factory, office, hospital, or the like. In the following description, it is assumed that the system is intended to detect the position of the person 400 carrying the terminal device 200, but the position detection system 1 according to the present embodiment is not limited to this. The present invention can also be applied when detecting the position of an object (for example, a component, an apparatus, or a self-standing walking robot) integrated with the terminal device 200.

  Below, the outline | summary of each apparatus contained in the position detection system 1 which concerns on this embodiment is demonstrated.

(Lighting fixture 100)
The lighting fixture 100 is a lighting device capable of performing visible light communication. For example, as illustrated in FIG. 1, the lighting fixture 100 is fixed and installed on a ceiling or the like of a room 300.

  Specifically, the plurality of lighting fixtures 100 (lighting fixtures 100a, 100b, 100c, and 100d) are provided on the same plane that is the ceiling of the room 300, as shown in FIGS. In the present embodiment, when the positions of the terminal devices 200 are detected by making the heights at which the respective lighting fixtures 100 are installed the same, each of the three-dimensional space (real space) and the image is displayed. The correspondence between points can be easily identified (details of the identifying method will be described later).

  Moreover, in this embodiment, the number of the lighting fixtures 100 included in the position detection system 1 is not limited to four as shown in FIGS. It may be. In the following description, it is assumed that the position detection system 1 includes three lighting fixtures 100 provided on the same plane (ceiling). Moreover, the detailed structure of the lighting fixture 100 is mentioned later.

(Terminal device 200)
The terminal device 200 is, for example, a terminal that is carried by a person 400 and can capture moving images of the plurality of lighting fixtures 100, and includes a smartphone, a portable terminal, a wearable terminal, or the like. Details of the terminal device 200 will be described later.

  The position detection system 1 according to the present embodiment may include a server not shown in FIG. 1, and the server stores information used for position detection according to the present embodiment and is necessary. Accordingly, the information stored in the terminal device 200 may be transmitted via wireless communication or the like. In addition, the server receives a moving image of the lighting fixture 100 captured by the terminal device 200 from the terminal device 200 via wireless communication or the like, and the server detects the position of the terminal device 200 using the moving image. May be performed.

<Detailed configuration of lighting apparatus 100>
The outline configuration of the position detection system 1 according to the present embodiment has been described above. Next, the detailed structure of the lighting fixture 100 which concerns on this embodiment is demonstrated with reference to FIG.4 and FIG.5. FIG. 4 is a functional block diagram of the lighting fixture 100 according to the present embodiment. FIG. 5 is an explanatory diagram for explaining an example of the information table 500 stored in the lighting fixture storage unit 104 according to the present embodiment.

  As shown in FIG. 4, the lighting fixture 100 according to the present embodiment mainly includes a lighting fixture control unit 102, a lighting fixture storage unit 104, a packet generation unit 106, a light emission processing unit (light emission control unit) 108, and a light emission unit 110. Have. Below, the detail of each functional block contained in the lighting fixture 100 which concerns on the 1st Embodiment of this invention is demonstrated.

(Lighting fixture control unit 102)
The lighting fixture control unit 102 uses hardware such as a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory) built in the lighting fixture 100 to use each functional block of the lighting fixture 100. It has a function to control. Specifically, the luminaire control unit 102 can periodically instruct the packet generation unit 106 described later to perform packet transmission (visible light communication).

(Lighting device storage unit 104)
The luminaire storage unit 104 is realized by a storage device such as a ROM or a RAM, and includes, for example, identification information (ID (Identification)) of the luminaire 100, information about the shape of the light emitting area (light emitting unit 110) (shape information), illumination Information about the installation position of the instrument 100 (position information) and the like can be stored. Furthermore, the luminaire storage unit 104 can output information to be stored to the packet generation unit 106 described later in accordance with the instructions from the luminaire control unit 102 described above. Moreover, the lighting fixture memory | storage part 104 may store various data and programs for the lighting fixture control part 102 mentioned above to perform a process.

  Specifically, the luminaire storage unit 104 stores, for example, an information table 500 as illustrated in FIG. 5, and the information table 500 includes identification information (ID) of the luminaire 100 and a three-dimensional space (real space). Information on the shape of the light emitting area (light emitting unit 110) (shape information), information on the installation position of the lighting fixture 100 (position information), and the like are stored. Specifically, the identification information is information for specifying the lighting fixture 100, and information unique to each lighting fixture 100 is assigned. The shape information includes information related to the shape of the light emitting unit 110 that is the light emitting region of the lighting fixture 100 in the three-dimensional space, and more specifically, each vertex of the contour of the light emitting unit 110 in the three-dimensional space. Position coordinates, and information on the shape and dimensions of the light emitting unit 110 can be included. Further, the position information can include the position coordinates of the center of gravity of the light emitting unit 110 of the lighting apparatus 100 in the three-dimensional space. In the following description, the position coordinates may be absolute position coordinates based on the world coordinate system or may be relative position coordinates from a preset reference point.

  Note that the position detection system 1 according to the present embodiment may include a server not shown in FIG. 1 as described above. In this case, the server includes information on the shape of the light emitting area (light emitting unit 110) stored in the lighting fixture storage unit 104 according to the present embodiment (shape information), information on the installation position of the lighting fixture 100 (position information), and the like. May be stored in association with the identification information (ID) of the lighting fixture 100 instead of the lighting fixture storage unit 104. The stored information may be transmitted from the server to the terminal device 200 via wireless communication in response to a request from the terminal device 200.

(Packet generator 106)
The packet generation unit 106 emits light in the identification information (ID) of the lighting fixture 100 and the three-dimensional space (real space) stored in the lighting fixture storage unit 104 according to the instruction of the lighting fixture control unit 102 described above. Packet information to be transmitted can be generated based on information on the shape of the region (shape information), information on the installation position of the lighting fixture 100 (position information), and the like. In other words, it can be said that the packet information generated by the packet generation unit 106 is information including the ID, shape information, and position information of the lighting fixture 100 described above. Further, the packet generation unit 106 can output the generated packet information to the light emission processing unit 108 described later.

(Light emission processing unit 108)
The light emission processing unit 108 performs modulation processing on the packet information generated by the packet generation unit 106 described above, and controls a blinking pattern (light emission timing) of the light emitting unit 110 described later. That is, the light emission processing unit 108 has a function of controlling the light emitting unit 110 so that visible light communication is possible (a function of generating control information).

(Light Emitting Unit 110)
The light emitting unit 110 is a light emitting body capable of outputting visible light, and is configured by, for example, an LED (Light Emitting Diode). The light emitting unit 110 repeats light emission and extinguishing (flashing) with a predetermined blinking pattern under the control of the light emission processing unit 108 described above, and specifically, the terminal device 200 is changed by visible light by changing the light emission timing. To the above information (identification information (ID) of the lighting fixture 100, information on the shape of the light emitting area (shape information), and information on the installation position of the lighting fixture 100 (position information)), that is, visible light communication. It can be carried out.

<Detailed Configuration of Terminal Device 200>
The detailed configuration of the lighting fixture 100 according to the present embodiment has been described above. Next, a detailed configuration of the terminal device 200 according to the present embodiment will be described with reference to FIGS. FIG. 6 is a functional block diagram of the terminal device 200 according to the present embodiment. FIG. 7 is an explanatory diagram for explaining an example of the information table 502 stored in the terminal storage unit 204 according to the present embodiment. Further, FIG. 8 is an explanatory diagram for explaining a calculation method of the position calculation unit 210 according to the present embodiment.

  As illustrated in FIG. 6, the terminal device 200 according to the present embodiment includes a terminal control unit 202, a terminal storage unit 204, a camera unit (imaging unit) 206, an image processing unit (acquisition unit) 208, and a position calculation unit (position It mainly includes a detection unit 210. Below, the detail of each functional block contained in the terminal device 200 which concerns on this embodiment is demonstrated.

(Terminal control unit 202)
The terminal control unit 202 has a function of controlling each functional block of the terminal device 200 using hardware such as a CPU, a ROM, and a RAM built in the terminal device 200.

(Terminal storage unit 204)
The terminal storage unit 204 is realized by a storage device such as a ROM and a RAM, and stores information acquired by an image processing unit 208 described later. Specifically, the terminal storage unit 204 stores an information table 502 as shown in FIG. The information table 502 relates to the identification information (ID) of the lighting fixture 100 acquired from the lighting fixture 100 via visible light communication for each lighting fixture 100, and the shape of the light emitting region on the three-dimensional space (real space). Information (shape information) and information (position information) regarding the installation position of the lighting fixture 100 are stored. Further, the information table 502 includes, for each lighting fixture 100, the outline area and the vertex position (positional coordinates) of the light emitting unit 110 of the lighting fixture 100 on the moving image of the lighting fixture 100 captured by the camera unit 206 described later. Is stored.

  As described above, the shape information stored in the information table 502 includes the position coordinates of each vertex of the contour of the light emitting unit 110 and the shape and dimensions of the light emitting unit 110 in a three-dimensional space (real space). Information can be included. Further, the position information stored in the information table 502 can include position coordinates of the center of gravity of the light emitting unit 110 of the lighting fixture 100 in a three-dimensional space.

(Camera unit 206)
For example, the camera unit 206 can capture a moving image of at least three or more lighting fixtures 100 provided on the same plane. Specifically, the camera unit 206 receives light emitted from the target space, forms an optical image on the imaging surface, and converts the optical image formed on the imaging surface into an electrical image signal to convert a moving image. Can be acquired. In addition, the camera unit 206 includes, for example, an imaging optical system such as a photographing lens and a zoom lens that collects light emitted from the lighting apparatus 100, and an imaging such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). You may have an element.

(Image processing unit 208)
The image processing unit 208 acquires a moving image of the luminaire 100 captured by the camera unit 206 using hardware such as a CPU, a ROM, and a RAM built in the terminal device 200, and acquires the acquired moving image. Store temporarily. Furthermore, the image processing unit 208 acquires a blinking pattern (light reception pattern) of the lighting fixture 100 based on the stored moving image, and performs demodulation processing on the acquired blinking pattern, thereby identifying the identification information ( ID), information (shape information) regarding the shape of the light emitting region (light emitting unit 110) in the three-dimensional space (real space), and information (position information) regarding the installation position of the lighting fixture 100 can be acquired.

  Further, the image processing unit 208 analyzes the moving image of the lighting fixture 100 picked up by the camera unit 206 using an image recognition technique, so that the characteristics of the light emitting unit 110 of the lighting fixture 100 on the image are displayed. As a point, the vertex and area of the contour of the light emitting unit 110 can be extracted and calculated. Further, the image processing unit 208 abstracts the extracted contour of the light emitting unit 110 so that the number of vertices matches based on the shape of the light emitting unit 110 acquired from the lighting apparatus 100 via visible light communication. Can also be done. For example, when the lighting apparatus 100 includes the rod-shaped light emitting unit 110, the image processing unit 208 includes information indicating that the shape of the light emitting unit 110 acquired from the lighting apparatus 100 via visible light communication is a bar shape, With reference to the contour of the light emitting unit 110 of the luminaire 100 extracted from the above, the luminaire 100 can be abstracted as a line segment having two ends.

  Furthermore, the image processing unit 208 can output the acquired information to the terminal storage unit 204 described above and a position calculation unit 210 described later.

(Position calculation unit 210)
The position calculation unit 210 is a light emitting region (light emitting unit 110) on the identification information (ID) of the lighting fixture 100 and a three-dimensional space (real space) acquired by the image processing unit 208 described above via visible light communication. Information on the shape of the light source (shape information), information on the installation position of the lighting fixture 100 (position information), and the area and vertex of the contour of the light emitting unit 110 of the lighting fixture 100 extracted from the image by the image processing unit 208 described above. Based on the position information, the position of the terminal device 200 can be calculated using a linear equation.

  Specifically, the position calculation unit 210 has a correspondence relationship between at least six points in the lighting fixture 100 on the image and six points related to position coordinates in the three-dimensional space (real space) acquired through visible light communication. In other words, the correspondence relationship between the six sets of points can be identified, and the position coordinates of the terminal device 200 can be calculated using a linear equation based on the identified correspondence relationship.

  More specifically, as shown in FIG. 8, the position calculation unit 210 uses each point on the image 600 (points A ′, B ′, and C ′ in FIG. 8) and a three-dimensional space (real space) 602. (Points A, B, and C ′ connected by a line, points B and B ′, and points C and C ′ in FIG. 8). 6) (in other words, correspondence of 12 points) can be obtained, and the internal parameters specific to the camera unit 206 of the terminal device 200 can be obtained. If it is known in advance, it is possible to calculate the position (point Q in FIG. 8) and posture of the camera unit 206 of the terminal device 200 in the three-dimensional space using the following formula (1).

In Equation (1), P is represented as a 3 × 4 matrix (12 unknowns) and indicates the position and orientation of the camera unit 206 of the terminal device 200 in the three-dimensional space (real space) 602. . In the formula (1), (X _image , Y _image , S) indicates the coordinates of a point on the image 600, and (X _world , Y _world , Z _world , 1) is the three-dimensional space 602. If the coordinates of the points are shown and there is a correspondence between the two points (correspondence between the points on the three-dimensional space 602 and the points on the image 600), two equations can be obtained. If there is a correspondence between the points and the six points on the three-dimensional space 602, P indicating the position of the camera unit 206 of the terminal device 200 can be calculated.

  That is, the position calculation unit 210 uses the information stored in the terminal storage unit 204 to specify the correspondence specifying process (pre-processing) for specifying the correspondence between the six sets of points and the six sets of correspondences for which the correspondence is specified. And a position calculation process for calculating the position of the terminal device 200.

  In the present embodiment, the processing performed by the image processing unit 208 and the position calculation unit 210 described above may be performed by a server (not shown) included in the position detection system 1. In this case, the server receives a moving image of the luminaire 100 captured by the terminal device 200 from the terminal device 200 and detects the position of the terminal device 200 using information stored in the server in advance. Become.

<Position detection method>
The detailed configuration of the terminal device 200 according to the present embodiment has been described above. Next, the position detection method according to the present embodiment will be described with reference to FIGS. FIG. 9 is a flowchart of the position detection method according to the present embodiment. FIG. 10 is a sub-flowchart of the correspondence specifying process (pre-processing) according to this embodiment. Further, FIG. 11 is a sub-flowchart of step S213 in FIG. 12 and 13 are explanatory diagrams for explaining the correspondence specifying process (pre-processing) according to the present embodiment.

  Specifically, the position detection method according to the present embodiment is shown in the flowchart of FIG. 9, and the flowchart includes a plurality of steps from step S101 to step S109. Details of each step of the position detection method according to the present embodiment will be described below.

  In the position detection method according to the present embodiment described below, three lighting fixtures (first, second, and third) having a rod-like light emitting unit 110 provided on the same plane (ceiling). Description will be made assuming that the position of the terminal device 200 is detected using the (luminaire) 100.

(Step S101)
The light emitting unit 110 of each lighting fixture 100 emits light, and the lighting fixture 100 transmits the light emitting region (the light emitting unit 110) on the identification information (ID) of the lighting fixture 100 and a three-dimensional space (real space) via visible light communication. ) (Shape information) and information regarding the installation position of the lighting fixture 100 (position information) are transmitted to the terminal device 200. Specifically, the light emitting unit 110 of each lighting fixture 100 repeats light emission and extinguishing (flashing) in a predetermined blinking pattern, and transmits the information to the terminal device 200.

(Step S103)
The camera unit 206 of the terminal device 200 captures a moving image of the three lighting fixtures 100 that emit light.

(Step S105)
The image processing unit 208 of the terminal device 200 temporarily stores the moving image captured in step S103 described above. Furthermore, the image processing unit 208 acquires a blinking pattern (light reception pattern) of the lighting fixture 100 based on the stored moving image, and performs demodulation processing on the acquired blinking pattern, thereby identifying the identification information ( ID), information on the shape of the light emitting area (light emitting unit 110) in the three-dimensional space (real space) (shape information), and information on the installation position of the lighting fixture 100 (position information) are acquired and stored in the terminal storage unit 204 Store. The shape information stored here is the position coordinates of each vertex of the contour of the light emitting unit 110 of the lighting fixture 100 as described above, and further includes information on the shape and dimensions of the light emitting unit 110. But you can. Furthermore, the position information stored here is a position coordinate of the center of gravity of the light emitting unit 110 of the lighting fixture 100 in a three-dimensional space (real space).

  In addition, the image processing unit 208 of the terminal device 200 performs processing using the image recognition technology on the moving image captured in step S103 described above, and the contour of the light emitting unit 110 of each lighting apparatus 100 on the image is displayed. Extract and calculate vertex position coordinates and area.

(Step S107)
As pre-processing for calculating the position, the position calculation unit 210 of the terminal device 200 includes six points related to each lighting fixture 100 on the image, and a position in the three-dimensional space (real space) acquired through visible light communication. The correspondence relationship with the six points related to the coordinates is specified. Details of step S107 will be described later.

(Step S109)
The position calculation unit 210 of the terminal device 200 calculates the position coordinates of the terminal device 200 using a linear equation based on the correspondence between the six sets of points specified in step S107 described above. Since the calculation of the position coordinates of the terminal device 200 has already been described, detailed description thereof is omitted here.

  The position detection method according to the present embodiment has been described above. Next, step S107 in FIG. 9, that is, details of the correspondence specifying process (pre-processing) will be described. Specifically, the correspondence specifying process (step S107) according to the present embodiment is shown in the sub-flowchart of FIG. 10, and the sub-flowchart includes a plurality of steps from step S201 to step S217. Details of each step of the correspondence specifying process according to this embodiment will be described below.

  In the following description, the position of the terminal device 200 is detected using the three lighting fixtures 100 having the rod-like light emitting unit 110 provided on the same plane (ceiling). Furthermore, in the following description, it is assumed that the position coordinates on the three-dimensional space (real space) of the two ends of the bar-shaped light emitting unit 110 of each lighting fixture 100 are known as position information. Further, in the following description, it is assumed that the positions on the moving image of the two ends of the bar-shaped light emitting unit 110 of each lighting fixture 100 are also known. That is, in the following description, it is assumed that the correspondence between the position of the two end portions in the three-dimensional space and the position on the image can be specified in each lighting device 100, and three lighting devices 100 are included. Therefore, it is assumed that the correspondence between the six sets of points on the three-dimensional space and the points on the image can be obtained.

(Step S201)
The position calculation unit 210 of the terminal device 200 empties a set of selection candidates in which information that is candidates for use in the calculation of the position coordinates of the terminal device 200 in step S109 shown in FIG. 9 is stored. .

(Step S203)
The position calculation unit 210 of the terminal device 200 relates to the identification information (ID) of the lighting fixture 100 acquired in step S105 of FIG. 9 described above, and the shape of the light emitting region (light emitting unit 110) in the three-dimensional space (real space). Information (shape information), information on the installation position of the lighting fixture 100 (position information) is acquired from the terminal storage unit 204, and as a set of positional information in the real space of each lighting fixture 100 in the set of selection candidates, Store in the set of selection candidates on the real space side. Specifically, the position calculation unit 210 uses, as the shape information, the position coordinates on the three-dimensional space (real space) of the two ends of the bar-shaped light emitting unit 110 of each lighting fixture 100 as the ID of the lighting fixture 100. Further, the positional coordinates of the bar-shaped light emitting unit 110 of each lighting fixture 100 in the three-dimensional space (real space) are stored in association with the ID of the lighting fixture 100 as the positional information.

(Step S205)
The position calculation unit 210 of the terminal device 200 ends the process if the real space side set of the position information of each lighting fixture 100 in the set of selection candidates is empty. On the other hand, the position calculation unit 210 of the terminal device 200 proceeds to step S207 described later unless the real space side set of the position information of each lighting fixture 100 in the set of selection candidates is empty.

(Step S207)
The position calculation unit 210 of the terminal device 200 selects the one with the largest area of the contour of the light emitting unit 110 of each lighting fixture 100 on the image extracted in step S105 of FIG. Is set to p.

(Step S209)
The position calculation unit 210 of the terminal device 200 adds the information on the image related to p selected in step S207 described above to the image-side set that stores information related to the image side of the selection candidate. Specifically, the position calculation unit 210 adds position information (position coordinates) on the moving image of the two ends of the bar-shaped light emitting unit 110 of the lighting fixture 100 according to the selected p to the image side set.

(Step S211)
The position calculation unit 210 of the terminal device 200 determines that the number of lighting fixtures 100 associated with the information on the image stored in the image side set is 2 or less (in other words, the number of position coordinates of the end portion). If it is 5 or less), the process returns to step S205 described above. On the other hand, the position calculation unit 210 of the terminal device 200 does not have the size of the number of the lighting fixtures 100 associated with the information on the image stored in the image side set being 2 or less (in other words, the position coordinates of the end portion). If the number is not less than 5), the process proceeds to step S213 described later.

(Step S213)
The position calculation unit 210 of the terminal device 200 stores the position coordinates on the three-dimensional space (real space) of the two ends of the bar-shaped light emitting unit 110 of each lighting fixture 100 stored in the set of selection candidates, The correspondence relationship between the two end portions of the bar-shaped light emitting unit 110 of the lighting fixture 100 and the position information on the moving image is specified. Details of step S213 will be described later.

(Step S215)
The position calculation unit 210 of the terminal device 200 determines whether or not six or more sets of correspondences have been identified. The position calculation unit 210 proceeds to step S217 when six or more sets of correspondences cannot be specified. On the other hand, the position calculation unit 210 ends the process when six or more sets of correspondences can be identified.

(Step S217)
Assuming that the correspondence relationship could not be specified, the information on p selected in step S207 is removed from the set of selection candidates, and the process returns to step S205.

  The details of the correspondence specifying process (pre-processing) (step S107) according to the present embodiment have been described above. Next, step S213 in FIG. 10 will be described. Specifically, step S213 in FIG. 10 is shown in the sub-flowchart in FIG. 11, and the sub-flowchart has a plurality of steps from step S301 to step S321. Details of each step included in the sub-flowchart of step S213 according to the present embodiment will be described below.

(Step S301)
The position calculation unit 210 of the terminal device 200 substitutes 1 for a variable m for managing the processing order.

(Step S303)
The position calculation unit 210 of the terminal device 200 stores the center of gravity on the three-dimensional space (real space) of the rod-shaped light emitting unit 110 of each lighting fixture 100 stored in the set of selection candidates in step S203 (step S105) described above. Get position coordinates.

(Step S305)
The position calculation unit 210 of the terminal device 200 determines whether or not the centers of gravity of the light emitting units 110 of the three lighting fixtures 100 acquired in step S303 are on the same straight line. If the three centroids are not on the same straight line, the position calculation unit 210 proceeds to step S307 described later. On the other hand, the position calculation unit 210 ends the process when the three centroids are on the same straight line.

(Step S307)
The position calculation unit 210 of the terminal device 200 extracts the position coordinates of the vertices of the contours of the light emitting units 110 extracted from the positions of the centers of gravity of the light emitting units 110 of the lighting fixtures 100 included in the selection-side image side set on the image. Based on (obtained in step S105 described above).

(Step S309)
The position calculation unit 210 of the terminal device 200 sets the lighting fixture 100 having the mth largest contour of the light emitting unit 110 among the lighting fixtures 100 belonging to the set of selection candidates as q. In the following description, it is assumed that m is set in step S301 described above.

(Step S311)
The position calculation unit 210 of the terminal device 200 stores position coordinates (position information) in the three-dimensional space (real space) of the two ends of the bar-shaped light emitting unit 110 of each lighting fixture 100 stored in the set of selection candidates. ) And the position coordinates of the center of gravity in the three-dimensional space of the light emitting unit 110 of each lighting fixture 100, and two lighting fixtures other than q stored in the selected set and the straight line connecting the two ends of q. An angle α composed of a straight line connecting the centroids of 100 is calculated (see FIGS. 12 and 13). Details of these straight lines will be described later.

(Step S313)
If the angle α calculated in step S311 described above is within −45 degrees to +45 degrees (predetermined angle), the position calculation unit 210 of the terminal device 200 proceeds to step S315 described later. On the other hand, when the angle α calculated in step S311 is not within −45 degrees to +45 degrees (predetermined angle), the position calculation unit 210 of the terminal device 200 proceeds to step S317 described later.

(Step S315)
The position calculation unit 210 of the terminal device 200 stores the position coordinates on the three-dimensional space (real space) of the two ends of the bar-shaped light emitting unit 110 of each lighting fixture 100 stored in the set of selection candidates, The correspondence relationship between the two end portions of the bar-shaped light emitting unit 110 of the lighting fixture 100 and the position coordinates on the moving image is specified.

  In detail, in the above-described step S311, the position calculation unit 210, as shown in FIG. 12, is a three-dimensional space for two ends 700 and 702 of the bar-shaped light emitting unit 110 of the luminaire 100 that is q ( A straight line 710 connecting these two end portions (two points) 700 and 702 is calculated based on the position coordinates in the real space. Furthermore, the position calculation unit 210 calculates the two end portions 700 based on the position coordinates of the centroids 804a and 804b in the three-dimensional space of the light emitting units 110 of the respective lighting fixtures 100a and 100b calculated in step S303 described above. , 702 is calculated. In addition, the position calculation unit 210 calculates an angle α composed of the calculated straight line 710 and straight line 810.

When the calculated angle α is within −45 degrees to +45 degrees, the position calculation unit 210 performs q on the three-dimensional space (real space) and the image as shown in FIG. The distances a ₀ and b ₀ from the end 700 of the lighting fixture 100 to the centers of gravity 804a and 804b of the respective lighting fixtures 100a and 100b are calculated. Similarly, as shown in FIG. 12, the position calculation unit 210 from the end 702 of the luminaire 100 that is q to the centers of gravity 804 a and 804 b of the luminaires 100 a and 100 b on the three-dimensional space and the image. Distances a ₁ and b ₁ are respectively calculated.

Note that the position coordinates of the end portions 700 and 702 of the lighting fixture 100 and the position coordinates of the centers of gravity 804a and 804b of the lighting fixtures 100a and 100b other than q are q in the three-dimensional space (real space). Since it can be acquired in S203 (step S105), the position calculation unit 210, based on these position coordinates, the center of gravity 804a of each of the lighting fixtures 100a and 100b from the end portions 700 and 702 of the lighting fixture 100 as q. The distances a ₀ , b ₀ , a ₁ , b _{1 up} to 804b can be calculated.

Furthermore, the position calculation unit 210 can calculate the position coordinates of the vertex of the contour of the light emitting unit 110 of the lighting fixture 100 on the image based on the contour of the light emitting unit 110 extracted in step S105 described above, Using the calculated position coordinates, the position coordinates of the ends 700 and 702 of the luminaire 100 that are q and the position coordinates of the centers of gravity 804a and 804b of the luminaires 100a and 100b other than q are calculated on the image. Can do. Accordingly, the position calculation unit 210 uses the calculated position coordinates on the image to determine the distances a ₀ to the centers of gravity 804a and 804b of the lighting fixtures 100a and 100b from the ends 700 and 702 of the lighting fixture 100 that are q. b ₀ , a ₁ and b ₁ can be calculated.

Then, the position calculation unit 210 uses the calculated distances a ₀ , a ₁ , b ₀ , and b ₁ to calculate the position of the luminaire 100 that is q in the three-dimensional space (real space) and the image. The ends 700 and 702 are grouped on the basis of which one of the lighting fixtures 100a and 100b is closer to each other. Then, the position calculation unit 210 can identify the correspondence relationship by causing the end portions 700 and 702 on the three-dimensional space belonging to the same group to correspond to the end portions 700 and 702 on the image.

(Step S317)
Similar to step S315 described above, the position calculation unit 210 of the terminal device 200 stores a three-dimensional space (real space) for two ends of the bar-shaped light emitting unit 110 of each lighting fixture 100 stored in the set of selection candidates. ) The correspondence between the position coordinates on the moving image and the position coordinates on the moving image of the two ends of the bar-shaped light emitting unit 110 of each lighting fixture 100 is specified.

  Specifically, in step S311 described above, the position calculation unit 210 is based on the position coordinates in the three-dimensional space (real space) of the bar-shaped light emitting unit 110 of the lighting fixture 100, which is q, as shown in FIG. Then, a straight line 710 connecting the two end portions 700 and 702 of the luminaire 100 that is q is calculated. Further, the position calculation unit 210 calculates the two end portions 700, based on the positions of the gravity centers 804a and 804b in the three-dimensional space of the light emitting units 110 of the respective lighting fixtures 100a and 100b, which are calculated in step S303 described above. A straight line 810 connecting 702 is calculated. In addition, the position calculation unit 210 calculates an angle α composed of the calculated straight line 710 and straight line 810.

Then, when the calculated angle α is not within −45 degrees to +45 degrees (predetermined angle), the position calculation unit 210, as shown in FIG. 13, on the three-dimensional space (real space) and on the image. , Q, the distances a ₀ and b ₀ from the end 700 of the lighting fixture 100 to the centers of gravity 804a and 804b of the lighting fixtures 100a and 100b are calculated. Similarly, as shown in FIG. 13, the position calculation unit 210 from the end portion 702 of the lighting fixture 100 as q to the centers of gravity 804a and 804b of the lighting fixtures 100a and 100b on the three-dimensional space and the image. Distances a ₁ and b ₁ are respectively calculated. Further, the position calculation unit 210 calculates the total value of the calculated distance a ₀ and the distance a _{1 and} the total value of the calculated distance b ₀ and the distance b ₁ .

  Further, the position calculation unit 210 uses the calculated total value, and in the three-dimensional space (real space) and on the image, the end portions 700 and 702 of the lighting device 100 that are q are respectively lighting devices. Grouping is performed based on whether the total value of the distances between 100a and 100b is large or small. Then, the position calculation unit 210 can identify the correspondence relationship by causing the end portions 700 and 702 on the three-dimensional space belonging to the same group to correspond to the end portions 700 and 702 on the image.

(Step S319)
The position calculation unit 210 of the terminal device 200 sets the variable m larger by one.

(Step S321)
If the value of m set in step S319 described above is not 4, the position calculation unit 210 of the terminal device 200 returns to step S309 described above. On the other hand, the position calculation unit 210 ends the process when the value of m set in step S319 described above is 4.

  As described above, according to the first embodiment of the present invention, as shown in steps S315 and S317 described above, 2 of the bar-shaped light emitting units 110 of the respective lighting fixtures 100 can be calculated by simple distance calculation and simple comparison. It is possible to specify the correspondence between the position coordinates on the three-dimensional space (real space) for one end and the position coordinates on the moving image for the two ends of the bar-shaped light emitting unit 110 of each lighting fixture 100. it can. Furthermore, according to this embodiment, even with a small number of lighting fixtures 100, it is possible to obtain position information and the like related to a sufficient number of lighting fixtures 100 for detecting the positions of the terminal device 200, and therefore the processing time is short. Using the linear equation, the position of the terminal device 200 can be detected with good position detection accuracy. That is, according to the present embodiment, the position can be detected with a small amount of lighting equipment and with a short processing time while having a good position detection accuracy.

<< Second Embodiment >>
In the first embodiment of the present invention described above, using the calculated distance, the position coordinates on the three-dimensional space (real space) for the two ends of the bar-shaped light emitting unit 110 of each lighting fixture 100, The correspondence between the two end portions of the bar-shaped light emitting unit 110 of each lighting fixture 100 and the position coordinates on the moving image is specified. However, the embodiment of the present invention is not limited to this, and the above-described specification may be performed using the calculated angle. Hereinafter, a second embodiment of the present invention in which identification is performed using the calculated angle will be described with reference to FIGS. 14 and 15. FIG. 14 is a flowchart of the position detection method according to the present embodiment, and FIG. 15 is an explanatory diagram for explaining the position detection method according to the present embodiment.

  In the following description, similarly to the first embodiment, the terminal device 200 is used by using three or more lighting fixtures 100 each having a bar-like light emitting unit 110 provided on the same plane (ceiling). The position of is detected. Furthermore, in the following description, it is assumed that the position coordinates on the three-dimensional space (real space) of the two ends of the bar-shaped light emitting unit 110 of each lighting fixture 100 are known as position information. In the following description, it is assumed that the position coordinates on the moving image of the two end portions of the bar-shaped light emitting unit 110 of each lighting fixture 100 are also known. That is, in the following description, it is assumed that the correspondence between the position of the two ends in the three-dimensional space and the position on the image can be specified in each lighting device 100, and three lighting devices 100 are included. Therefore, it is assumed that the correspondence between the six sets of points on the three-dimensional space and the points on the image can be obtained.

  In the present embodiment, the detailed configuration of the position detection system 1 and each device included in the position detection system 1 is the same as that in the first embodiment described above, and thus the description thereof is omitted here. .

<Position detection method>
Next, the position detection method according to the present embodiment will be described with reference to FIGS. The position detection method described below corresponds to step S213 of the first embodiment shown in FIG. 10, that is, it can be said to be one of the modifications of step S213. Specifically, the position detection method according to the present embodiment is shown in the sub-flowchart of FIG. 14, and the sub-flowchart has a plurality of steps from step S401 to step S423. Details of each step of the position detection method according to the present embodiment will be described below.

(Step S401 to Step S409)
Steps S401 to S409 in the present embodiment are the same as steps S301 to S309 in the first embodiment shown in FIG. 11, and thus description thereof is omitted here.

(Step S411)
As shown in FIG. 15, the position calculation unit 210 of the terminal device 200 is based on the positions of the centroids 804a and 804b in the three-dimensional space (real space) of the light emitting units 110 of the respective lighting fixtures 100a and 100b other than q. A straight line 810 connecting these two centroids 804a and 804b is calculated. Further, as shown in FIG. 15, the position calculation unit 210 calculates a perpendicular 730 to the calculated straight line 810 from the center of gravity 704 of the luminaire 100 that is q. In addition, the position calculation unit 210 calculates a line segment 710a that connects one end (one point) 700 of the luminaire 100 that is q and the center of gravity 704, and a line segment 710a and a perpendicular line 730 that relate to the end 700. An angle (first angle) α ₁ constituted by is calculated.

Further, as shown in FIG. 15, the position calculation unit 210 calculates a line segment 710 b connecting the other end (the other point) 702 of the luminaire 100 that is q and the center of gravity 704. and calculates the configured angle (second angle) alpha ₂ by the line segment 710b and the perpendicular 730 of the end portion 702.

It should be noted that the position coordinates of the end portions 700 and 702 of the luminaire 100 that is q in the three-dimensional space and the position coordinates of the centers of gravity 704, 804a, and 804b of the luminaires 100a and 100b other than q. Can be acquired in the above-described step S203 (step S105), the position calculation unit 210 can calculate the angles α ₁ and α ₂ based on these position coordinates.

(Step S413)
The position calculation unit 210 of the terminal device 200 determines that the difference (α ₁ −α ₂ ) between the angle α ₁ and the angle α ₂ calculated in step S411 described above is not within −60 degrees to +60 degrees (predetermined angle). Advances to step S415 to be described later. On the other hand, when the difference (α ₁ −α ₂ ) is within the range of −60 degrees to +60 degrees (predetermined angle), the position calculation unit 210 proceeds to step S419 described later.

(Step S415)
As shown in FIG. 15, the position calculation unit 210 of the terminal device 200, based on the positions of the centroids 804a and 804b on the image of the light emitting unit 110 of each of the lighting fixtures 100a and 100b other than q, A straight line 810 connecting 804b is calculated. Further, as shown in FIG. 15, the position calculation unit 210 calculates a perpendicular 730 to the calculated straight line 810 from the center of gravity 704 of the luminaire 100 that is q. In addition, the position calculation unit 210 calculates a line segment 710a that connects one end (one point) 700 of the luminaire 100 that is q and the center of gravity 704, and a line segment 710a and a perpendicular line 730 that relate to the end 700. An angle (first angle) α ₁ constituted by is calculated.

Further, as shown in FIG. 15, the position calculation unit 210 calculates a line segment 710 b connecting the other end (the other point) 702 of the luminaire 100 that is q and the center of gravity 704. and calculates the configured angle (second angle) alpha ₂ by the line segment 710b and the perpendicular 730 of the end portion 702.

The position calculation unit 210 can calculate the position coordinates of the vertex of the contour of the light emitting unit 110 of the lighting fixture 100 on the image based on the contour of the light emitting unit 110 extracted in step S105 described above. Using the calculated position coordinates, the position coordinates of the ends 700 and 702 of the lighting device 100 as q on the image, and the center of gravity 704 between the lighting device 100 as q and the lighting devices 100a and 100b other than q, The position coordinates of 804a and 804b can be calculated. Therefore, the position calculation unit 210 can calculate the angles α ₁ and α ₂ using the calculated position coordinates on the image.

(Step S417)
Further, the position calculating unit 210, the angle alpha ₁ is calculated in step S411 and step S413 described above, based on the magnitude relationship of alpha _2, the three-dimensional spatial angle alpha ₁ in the (real space) on, alpha ₂ of the two Dividing into groups, the angles α ₁ and α ₂ on the image are divided into two groups. Then, the position calculation unit 210 can identify the correspondence by associating the end portions 700 and 702 on the three-dimensional space belonging to the same group with the end portions 700 and 702 on the image.

(Step S419 to Step S423)
Steps S419 to S423 in the present embodiment are the same as steps S315 to S321 in the first embodiment shown in FIG. 11, and thus description thereof is omitted here.

  As described above, according to the second embodiment of the present invention, as in the above-described steps S411 to S419, 2 of the bar-shaped light emitting unit 110 of each lighting fixture 100 is calculated by simple angle calculation and simple comparison. It is possible to specify the correspondence between the position coordinates on the three-dimensional space (real space) for one end and the position coordinates on the moving image for the two ends of the bar-shaped light emitting unit 110 of each lighting fixture 100. it can. Furthermore, according to this embodiment, even with a small number of lighting fixtures 100, it is possible to obtain position information and the like related to a sufficient number of lighting fixtures 100 for detecting the positions of the terminal device 200, and therefore the processing time is short. Using the linear equation, the position of the terminal device 200 can be detected with good position detection accuracy. That is, according to the present embodiment, the position can be detected with a small amount of lighting equipment and with a short processing time while having a good position detection accuracy.

<< Hardware configuration >>
The embodiments of the present invention have been described above. Subsequently, a hardware configuration according to each embodiment of the present invention will be described. The position detection method in the position detection system 1 described above is realized by cooperation of software, a lighting fixture, and hardware of the terminal device 200 described below.

  FIG. 16 is a block diagram illustrating a hardware configuration example of a wireless communication apparatus 900 that is the terminal apparatus 200 according to the embodiment of the present invention. The wireless communication apparatus 900 includes a CPU 902, a ROM 904, and a RAM 906. In addition, the wireless communication device 900 includes an input unit 908, an output unit 910, a storage device 912, and a network interface 914. Below, each hardware block of the said radio | wireless communication apparatus 900 is demonstrated.

(CPU 902, ROM 904, RAM 906)
The CPU 902 functions as an arithmetic processing device and a control device, and controls the overall operation within the wireless communication device 900, which is the terminal device 200, according to various programs. Further, the CPU 902 may be a microprocessor. The ROM 904 stores programs used by the CPU 902, calculation parameters, and the like. The RAM 906 temporarily stores programs used in the execution of the CPU 902, parameters that change as appropriate during the execution, and the like. These are connected to each other by a host bus 916 including a CPU bus. The CPU 902, the ROM 904, and the RAM 906 can realize the functions of the terminal control unit 202 of the terminal device 200 described with reference to FIG. 6 in cooperation with software.

(Input unit 908)
The input unit 908 generates input signals based on input by the user, such as a mouse, a keyboard, a touch panel, buttons, a microphone, a sensor, a switch, and a lever. It consists of a control circuit. By operating the input unit 908, the user can input various data to the terminal device 200 and instruct processing operations. Further, the input unit 908 includes an imaging optical system such as a photographing lens and a zoom lens, and an imaging element such as a CCD or a CMOS, which functions as the camera unit 206 of the terminal device 200 described with reference to FIG. Yes.

(Output unit 910)
The output unit 910 includes display devices such as a CRT (Cathode Ray Tube) display device, a liquid crystal display (LCD) device, a projector device, an OLED (Organic Light Emitting Diode) device, and a lamp. The output unit 910 may include an audio output device such as a speaker and headphones.

(Storage device 912)
The storage device 912 is a device for storing data. The storage device 912 may include a storage medium, a recording device that records data on the storage medium, a reading device that reads data from the storage medium, a deletion device that deletes data recorded on the storage medium, and the like. The storage device 912 includes, for example, an HDD (Hard Disk Drive) or an SSD (Solid Storage Drive), or a memory having an equivalent function. The storage device 912 drives the storage and stores programs executed by the CPU 902 and various data.

(Network interface 914)
The network interface 914 is a communication interface configured with, for example, a communication device for connecting to a network. The communication interface is, for example, a short-range wireless communication interface such as Bluetooth (registered trademark) or ZigBee (registered trademark), a wireless LAN (Local Area Network), Wi-Fi (registered trademark), or a portable communication network (LTE). 3G) or the like. The network interface 914 may include a wired communication device that performs wired communication.

  The hardware configuration example of the wireless communication apparatus 900 that is the terminal apparatus 200 according to the embodiment of the present invention has been described above. Each component described above may be configured using a general-purpose member, or may be configured by hardware specialized for the function of each component. Such a configuration can be appropriately changed according to the technical level at the time of implementation.

<< Summary >>
As described above, according to each embodiment of the present invention, the three-dimensional space (real space) of the two ends of the bar-shaped light emitting unit 110 of each lighting fixture 100 can be calculated by simple calculation of distance and angle and simple comparison. ) It is possible to specify the correspondence between the upper position coordinates and the position information on the moving image of the two ends of the bar-shaped light emitting unit 110 of each lighting fixture 100. Furthermore, according to this embodiment, even with a small number of lighting fixtures 100, it is possible to obtain position information and the like related to a sufficient number of lighting fixtures 100 for detecting the positions of the terminal device 200, and therefore the processing time is short. Using the linear equation, the position of the terminal device 200 can be detected with good position detection accuracy. That is, according to each embodiment of the present invention, it is possible to detect a position with a small amount of lighting equipment and a short processing time while having a good position detection accuracy.

  In the above-described embodiment, the description has been made assuming that the position of the terminal device 200 is detected using the three lighting fixtures 100 having the rod-like light emitting unit 110 provided on the same plane. That is, in the above-described embodiment, it is assumed that the position coordinates on the three-dimensional space (real space) and the position coordinates on the image for the two ends of the rod-shaped light emitting units 110 of the three lighting fixtures 100 are known. explained. However, the embodiment of the present invention is not limited to using the three lighting fixtures 100 as described above. For example, one lighting fixture 100 having six feature points in the light emitting unit 110 is used. However, the position of the terminal device 200 can be detected.

<< Supplementary >>
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field to which the present invention pertains can come up with various changes or modifications within the scope of the technical idea described in the claims. Of course, it is understood that these also belong to the technical scope of the present invention.

  Moreover, each step in the position detection method of the embodiment of the present invention described above does not necessarily have to be processed in the order described. For example, the steps may be processed by changing the order as appropriate. Each step may be processed in parallel or individually instead of being processed in time series. Furthermore, the processing method of each step does not necessarily have to be processed according to the described method. For example, the processing method may be processed by another function unit by another method.

  Furthermore, at least a part of the above-described position detection method according to the embodiment of the present invention can be configured by software as an information processing program for causing a computer to function. When configured by software, these methods are used. Is stored in a recording medium such as a flexible disk or a CD-ROM (Compact Disc Read Only Memory), and is read into the terminal device 200 or other device connected to the terminal device 200 or the like. May be executed. The recording medium is not limited to a removable medium such as a magnetic disk or an optical disk, but may be a fixed recording medium such as a hard disk device or a memory. Furthermore, a program for realizing at least a part of these methods may be distributed via a communication line (including wireless communication) such as the Internet. Further, the program may be distributed in a state where the program is encrypted, modulated or compressed, and stored in a recording medium via a wired line such as the Internet or a wireless line.

DESCRIPTION OF SYMBOLS 1 Position detection system 100, 100a, 100b, 100c, 100d Lighting fixture 102 Lighting fixture control part 104 Lighting fixture storage part 106 Packet generation part 108 Light emission processing part 110 Light emission part 200 Terminal apparatus 202 Terminal control part 204 Terminal storage part 206 Camera part 208 Image processing unit 210 Position calculation unit 300 Indoor 400 Person 500, 502 Information table 600 Image 602 Three-dimensional space 700, 702 End 704, 804a, 804b Center of gravity 710, 810 Straight line 710a, 710b Line segment 730 Vertical 900 Wireless communication device 902 CPU
904 ROM
906 RAM
908 Input unit 910 Output unit 912 Storage device 914 Network interface 916 Host bus

Claims (12)

A terminal device capable of imaging a lighting fixture,
An imaging unit that captures a moving image of the lighting fixture;
An acquisition unit that acquires identification information for identifying the lighting fixture, shape information of the lighting fixture, and position information of at least six sets of points in the lighting fixture from the moving image;
A position detector that calculates the position of the terminal device using a linear equation based on the identification information, the shape information, and the position information;
A terminal device comprising:   The terminal device according to claim 1, wherein the shape information includes information related to a shape of a light emitting area of the lighting fixture and a position of a vertex of the light emitting area on a real space and the moving image.   The terminal device according to claim 2, wherein the position information includes information related to a position of the center of gravity of the lighting fixture in the real space and the moving image.   The said acquisition part acquires any one of the said identification information, the said shape information, and the said positional information based on the light reception pattern of the light from the said lighting fixture, The any one of Claims 1-3. Terminal equipment.   The terminal device according to claim 1, wherein the position detection unit specifies a correspondence relationship between at least six points in the lighting fixture in real space and at least six points in the lighting fixture in the moving image.   The terminal device according to claim 5, wherein at least three or more lighting fixtures provided on the same plane are imaged.   The position detection unit calculates the distance between predetermined points on the real space and the moving image, and identifies the correspondence by comparing the calculated distances. 6. The terminal device according to 6. The at least three or more lighting fixtures include first, second and third lighting fixtures,
The position detector is
Obtain the position of the center of gravity of each lighting fixture on the real space,
When the acquired centroids are not aligned,
The straight line connecting the two ends of the first lighting fixture in the real space and the straight line connecting the center of gravity of the second lighting fixture and the center of gravity of the third lighting fixture. Select a method for identifying the correspondence using an angle.
The terminal device according to claim 7. The position detector is
If the angle is within a predetermined angle,
On the real space and the moving image, the distance from one end of the first lighting fixture to the center of gravity of the second and third lighting fixtures is calculated, and the first Calculating the distance from the other end of the lighting fixture to the center of gravity of the second and third lighting fixtures;
If the angle is not within a predetermined angle,
On the real space and the moving image, a total value of distances from the two end portions of the first lighting fixture to the centroids of the second and third lighting fixtures is calculated.
The terminal device according to claim 8. The at least three or more lighting fixtures include first, second and third lighting fixtures,
The position detector is
On the real space and the moving image,
Calculating a perpendicular to a straight line extending from the center of gravity of the first lighting fixture and connecting the center of gravity of the second lighting fixture and the center of gravity of the third lighting fixture;
Calculating a first angle composed of a line segment connecting one point of the first lighting fixture and the center of gravity of the first lighting fixture, and the perpendicular;
Calculating a second angle constituted by a line segment connecting the other point of the first lighting fixture and the center of gravity of the first lighting fixture, and the perpendicular;
Identifying the correspondence based on the calculated first and second angles;
The terminal device according to claim 7. A position detection system including a lighting fixture and a terminal device,
The terminal device
An imaging unit that captures a moving image of the lighting fixture;
An acquisition unit that acquires identification information for identifying the lighting fixture, shape information of the lighting fixture, and position information of at least six sets of points in the lighting fixture from the moving image;
A position detector that calculates the position of the terminal device using a linear equation based on the identification information, the shape information, and the position information;
Having
Position detection system. The lighting fixture is:
Transmitting the identification information, the shape information, and a part of the position information to the terminal device by emitting light;
The position detection system according to claim 11.

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